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This paper proposed a trajectory tracking control strategy that combined Model Predictive Control (MPC), Radial Basis Function (RBF) neural network, and Sliding Mode Control (SMC) to address the low accuracy of vehicle trajectory tracking caused by model mismatch and external environmental interference during the driving process of autonomous vehicles. By establishing a vehicle kinematic model predictive control, the expected yaw rate of the vehicle in the current state was calculated, and the deviation value from the actual yaw rate was input to the RBF-SMC controller. By utilizing RBF’s ability to quickly approach nonlinear models, combined with sliding mode control to output front wheel angles, the lateral trajectory tracking control of the vehicle was achieved. The simulation experimental results show that this method significantly improves trajectory tracking accuracy compared with traditional controllers, and exhibits good robustness under different driving conditions.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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